CN107186727A - A kind of dining room meal delivering car - Google Patents
A kind of dining room meal delivering car Download PDFInfo
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- CN107186727A CN107186727A CN201710451889.9A CN201710451889A CN107186727A CN 107186727 A CN107186727 A CN 107186727A CN 201710451889 A CN201710451889 A CN 201710451889A CN 107186727 A CN107186727 A CN 107186727A
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- 235000012054 meals Nutrition 0.000 title description 9
- 230000001360 synchronised effect Effects 0.000 claims abstract description 75
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 230000035939 shock Effects 0.000 claims description 31
- 239000006096 absorbing agent Substances 0.000 claims description 25
- 239000000523 sample Substances 0.000 claims description 12
- 210000000245 forearm Anatomy 0.000 claims description 11
- 230000007704 transition Effects 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 235000013305 food Nutrition 0.000 abstract description 43
- 235000003166 Opuntia robusta Nutrition 0.000 abstract description 30
- 244000218514 Opuntia robusta Species 0.000 abstract description 30
- 230000000694 effects Effects 0.000 abstract description 9
- 230000002411 adverse Effects 0.000 abstract description 4
- 230000006872 improvement Effects 0.000 description 20
- 238000013016 damping Methods 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 6
- 230000000630 rising effect Effects 0.000 description 6
- 238000010521 absorption reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008092 positive effect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 235000014347 soups Nutrition 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47G—HOUSEHOLD OR TABLE EQUIPMENT
- A47G23/00—Other table equipment
- A47G23/08—Food-conveying devices for tables; Movable or rotary food-serving devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
本新型公开一种餐厅运餐车，包括行走车架和设置于车架上的餐盘抬升组件，所述行走车架包括一个内有中空结构的车体外壳，所述餐盘抬升组件包括设置于车体外壳中空结构左右两侧的同步带传动结构、该同步带传动结构由固定于车架底部的同步带动力系统传动连接，该两个同步带传动结构的同步带外侧设置有同步凸起；该同步带凸起上放置餐盘。本发明的餐厅运餐车，在现有的送餐车的外形基础上进行了模块化设计，包括机器人模块、餐盘抬升模块、车轮平衡模块，以此来提高送餐效率，节省人力，为顾客提供更为人性化、智能化、便捷化的服务，且餐车体积外观适宜，适合现有的餐厅的环境，不会对餐厅和顾客造成不利影响。
The present invention discloses a dining car for restaurants, which comprises a walking frame and a plate lifting assembly arranged on the frame. The walking frame includes a car body shell with a hollow structure inside. The synchronous belt transmission structure on the left and right sides of the hollow structure of the car body shell is connected by the synchronous belt power system fixed at the bottom of the frame, and the synchronous protrusions are arranged on the outer side of the synchronous belt of the two synchronous belt transmission structures; Place the dinner plate on the timing belt protrusion. The restaurant truck of the present invention has a modular design on the basis of the shape of the existing dining truck, including a robot module, a plate lifting module, and a wheel balancing module, so as to improve the efficiency of food delivery, save manpower, and serve customers Provide more humanized, intelligent, and convenient services, and the size and appearance of the dining car are appropriate, suitable for the environment of the existing restaurant, and will not cause adverse effects on the restaurant and customers.
Description
技术领域technical field
本发明涉及餐厅使用设备技术领域，具体地说涉及一种餐厅运餐车。The invention relates to the technical field of equipment used in restaurants, in particular to a dining car for restaurants.
背景技术Background technique
现有的餐厅运餐车主要为手推式送餐车和送餐机器人。Existing restaurant food trucks are mainly hand-push food trucks and food delivery robots.
手推式送餐车的缺点：1、需要人工上菜送餐，浪费了人力，同时由于上菜的人员过多，容易造成餐厅混乱；2、现有的手推式送餐车基本为两到三层空间，故送餐量是固定的，不能适应不同体积大小类型食物做出空间调整，也就造成了送餐车送餐空间的浪费，自然导致送餐效率低；3、手推式送餐车没有平衡装置，经过不平地面(地面凸起或凹陷)时，会引起餐车和食物的晃动，容易造成汤类食物的洒出。Disadvantages of push-type food delivery carts: 1. It is necessary to manually serve and deliver meals, which wastes manpower. At the same time, due to too many people serving dishes, it is easy to cause chaos in the restaurant; 2. The existing push-type meal delivery carts are basically two In the third-floor space, the amount of food delivered is fixed, and it cannot adapt to different sizes and types of food to make space adjustments, which also causes a waste of food delivery space for food delivery vehicles, which naturally leads to low delivery efficiency; 3. Push type The food delivery car does not have a balance device. When it passes through uneven ground (the ground is raised or sunken), it will cause the dining car and food to shake, and it is easy to cause soup to spill.
送餐机器人的缺点：1、现有的送餐机器人的餐车空间为一到三层，同样送餐量是固定的，不能适应不同体积大小类型食物做出空间调整；2、现有的送餐机器人必须按照实现已经规划的固定路线行进，不能够实现到任意指定位置送餐，也就造成送餐机器人工作方式不够灵活，形式单一；3、现有的送餐机器人只能运送食物，不能将餐盘自动送至客人餐桌上，不能给顾客带来一种方便、人性化的就餐服务。Disadvantages of food delivery robots: 1. The space of the existing food delivery robot is one to three floors, and the amount of food delivery is also fixed, and it cannot adapt to different sizes and types of food to make space adjustments; 2. The existing food delivery robots The robot must follow the fixed route that has been planned, and it cannot deliver food to any designated location, which makes the working method of the food delivery robot not flexible enough and in a single form; 3. The existing food delivery robot can only deliver food, and cannot The dinner plate is delivered to the guest's table automatically, which cannot bring a kind of convenient and humanized dining service to the customer.
发明内容Contents of the invention
针对上述现有技术的缺陷，本发明提供一种餐厅运餐车，进行了模块化设计。以此来提高送餐效率，节省人力，为顾客提供更为人性化、智能化、便捷化的服务，且餐车体积外观适宜，适合现有的餐厅的环境，不会对餐厅和顾客造成不利影响。Aiming at the above-mentioned defects in the prior art, the present invention provides a restaurant truck with a modular design. In order to improve the efficiency of food delivery, save manpower, provide customers with more humanized, intelligent and convenient services, and the size and appearance of the dining car are appropriate, suitable for the existing restaurant environment, and will not cause adverse effects on restaurants and customers .
为实现上述目的，本发明所采取的技术方案是：For realizing above-mentioned purpose, the technical scheme that the present invention takes is:
一种餐厅运餐车，包括行走车架和设置于车架上的餐盘抬升组件，所述行走车架包括一个内有中空结构的车体外壳，所述餐盘抬升组件包括设置于车体外壳中空结构左右两侧的同步带传动结构、该同步带传动结构由固定于车架底部的同步带动力系统传动连接，该两个同步带传动结构的同步带外侧设置有同步凸起；该同步带凸起上放置餐盘。A dining car for restaurants, comprising a walking frame and a plate lifting assembly arranged on the frame, the walking frame includes a car body shell with a hollow structure inside, and the plate lifting assembly includes a car body shell set on the car body shell The synchronous belt transmission structure on the left and right sides of the hollow structure is connected by the synchronous belt power system fixed at the bottom of the frame, and the synchronous protrusions are arranged on the outer side of the synchronous belt of the two synchronous belt transmission structures; the synchronous belt Place dinner plate on raised.
作为对上述技术方案的改进，所述同步凸起设置有凹槽。As an improvement to the above technical solution, the synchronous protrusion is provided with a groove.
作为对上述技术方案的改进，同步带传动结构包括设置于车体外壳前后侧壁上的同步带支架，两个对称设置的同步带支架间设置有同步轴，该同步轴沿前后方向设置，上下分布，其上设有同步带轮，同步带绕设在同步带轮上。As an improvement to the above-mentioned technical solution, the synchronous belt drive structure includes a synchronous belt bracket arranged on the front and rear side walls of the car body shell, and a synchronous shaft is arranged between the two symmetrically arranged synchronous belt brackets, and the synchronous shaft is arranged along the front and rear directions, up and down Distribution, a synchronous pulley is arranged on it, and the synchronous belt is wound on the synchronous pulley.
作为对上述技术方案的改进，所述同步带动力系统包括固定于车架上的驱动电机、通过齿轮轴支撑架设置于车架上的齿轮轴，该齿轮轴有两个，分布于同步带传动结构两侧，所述驱动电机与齿轮轴之间通过过渡轴传动连接，齿轮轴与同步带轮通过同步带轮锥齿轮传动连接，齿轮轴与过渡轴之间通过锥齿轮组传动连接，过渡轴与驱动电机之间通过减速的直齿轮组传动连接。As an improvement to the above technical solution, the synchronous belt power system includes a drive motor fixed on the vehicle frame, and a gear shaft arranged on the vehicle frame through a gear shaft support frame. There are two gear shafts distributed in the synchronous belt drive On both sides of the structure, the driving motor and the gear shaft are connected through a transition shaft, the gear shaft and the synchronous pulley are connected through a synchronous bevel gear transmission, the gear shaft and the transition shaft are connected through a bevel gear set, and the transition shaft It is connected with the driving motor through a decelerated spur gear set.
作为对上述技术方案的改进，所述车体外壳在左右两侧设置有车体侧门。As an improvement to the above technical solution, the vehicle body shell is provided with vehicle body side doors on the left and right sides.
作为对上述技术方案的改进，所述车体外壳的周部设置有若干个红外探头，该红外探头为六个；所述车体外壳的前侧设置有指示灯。As an improvement to the above technical solution, several infrared probes are arranged on the periphery of the vehicle body shell, and the number of the infrared probes is six; the front side of the vehicle body shell is provided with an indicator light.
作为对上述技术方案的改进，本发明的餐厅运餐车还包括设置于车体外壳后侧的机器人组件，所述机器人组件包括机器人脚部、机器人腿部丝杠、机器人下身、机器人上身、机器人上臂、机器人小臂、机器人手部，所述机器人脚部固定在车体外壳中空结构的底板上，所述机器人下身通过机器人腿部丝杠活动设置在机器人脚部上，所述机器人上身通过旋转齿轮组与机器人下身活动连接，所述机器人手部与机器人小臂、机器人小臂与机器人上臂、机器人上臂与机器人上身之间通过关节齿轮对活动连接。As an improvement to the above-mentioned technical solution, the restaurant truck of the present invention also includes a robot assembly arranged on the rear side of the car body shell, and the robot assembly includes a robot foot, a robot leg screw, a robot lower body, a robot upper body, and a robot upper arm. , robot forearm, robot hand, the robot foot is fixed on the bottom plate of the hollow structure of the car body shell, the lower body of the robot is set on the robot foot through the robot leg screw, and the robot upper body is rotated through the gear The group is movably connected with the lower body of the robot, and the robot hand is movably connected with the forearm of the robot, the forearm of the robot and the upper arm of the robot, and the upper arm of the robot and the upper body of the robot through joint gear pairs.
作为对上述技术方案的改进，所述机器人手部具有一个机器人手部上夹板和一个机器人手部下夹板。As an improvement to the above technical solution, the robot hand has an upper splint for the robot hand and a lower splint for the robot hand.
作为对上述技术方案的改进，所述机器人还包括一个机器人头部，该机器人头部设置有摄像头。As an improvement to the above technical solution, the robot further includes a robot head, and the robot head is provided with a camera.
作为对上述技术方案的改进，本发明的餐厅运餐车还包括一个车轮平衡组件；所述车轮平衡组件包括车轮减震组件、车轮驱动转向组件；As an improvement to the above technical solution, the restaurant truck of the present invention also includes a wheel balance assembly; the wheel balance assembly includes a wheel shock absorber assembly and a wheel drive steering assembly;
所述车轮减震组件包括减震车轮、减震器、减震弹簧、车轮架；减震器与减震弹簧衔接，减震车轮通过轴与减震器连接，减震器与车轮架固定连接，该车轮架通过圆柱销连接在车体外壳的底板下；The wheel shock absorber assembly includes a shock absorber wheel, a shock absorber, a shock absorber spring, and a wheel frame; the shock absorber is connected to the shock absorber spring, the shock absorber wheel is connected to the shock absorber through a shaft, and the shock absorber is fixedly connected to the wheel frame , the wheel frame is connected under the bottom plate of the car body shell through cylindrical pins;
所述车轮驱动转向组件包括转向轮平行杆、转向节、转向车轮、万向联轴器、驱动齿轮组；所述转向轮平行杆通达销钉将两个转向节铰接成一体，转向车轮通过车轮轴连接在转向节上，两个转向节间设置有驱动轴，该驱动轴由驱动齿轮组传动连接，该驱动轴与车轮轴之间通过万向联轴器传动连接。The wheel drive steering assembly includes a steering wheel parallel rod, a steering knuckle, a steering wheel, a universal coupling, and a drive gear set; Connected to the steering knuckle, a drive shaft is arranged between the two steering knuckles, the drive shaft is connected by a drive gear set, and the drive shaft is connected to the wheel shaft through a universal coupling.
本发明的工作原理是：The working principle of the present invention is:
驱动电机输出转速和转矩，通过减速的直齿轮组进行减速，以达到同步带所需要的运动速度，然后通过锥齿轮组实现转速方向的改变，两个同步带轮的转动方向相反，其中一个同步带轮逆时针旋转，另一个同步带轮顺时针旋转，从而将餐盘向上抬升。而餐盘放置在两侧同步带的四个同步带凸起上，由于凸起上设计有凹槽，所以将餐盘放置在凸起上时，可以保持餐盘的稳定，从而保证餐盘中的食物不会晃动。如此就可以实现餐盘抬升的功能。The output speed and torque of the driving motor are decelerated through the decelerated spur gear set to achieve the required movement speed of the synchronous belt, and then the direction of the rotational speed is changed through the bevel gear set. The rotation directions of the two synchronous pulleys are opposite, and one of them is The timing pulley rotates counterclockwise, and the other timing pulley rotates clockwise, thus lifting the dinner plate up. The dinner plate is placed on the four synchronous belt protrusions of the synchronous belts on both sides. Since the protrusions are designed with grooves, when the dinner plate is placed on the protrusions, the stability of the dinner plate can be kept, thereby ensuring The food will not shake. In this way, the function of lifting the dinner plate can be realized.
接着(取餐)机器人的上升运动通过机器人腿部丝杠的旋转上升来实现，用丝杠可以实现距离较为精准的控制，而且比较平稳。机器人上身的旋转是通过旋转齿轮组配合实现的，因为只需要旋转90°，所以采用一对齿轮去实现该功能相对来说更为简单成本也比较低。餐盘的两侧都有手托的位置，所以机械手的夹持采用一个有构成的可开合的夹子，直接加持餐盘两侧，而且由于夹子的长度尺寸是按照手托的长度设计的，所以足够保证平稳牢靠的夹持餐盘。当机器人的身体完成上升和旋转的动作后，机械臂的关节齿轮对通过转动可控制机器人上臂和机器人小臂伸长合适的长度，从而将餐盘放置在餐桌上，这样自动取餐放餐的功能就实现了。Then (feed taking) the rising motion of the robot is realized by the rotation and rising of the screw on the leg of the robot, and the distance can be controlled more precisely with the screw, and it is relatively stable. The rotation of the upper body of the robot is achieved through the cooperation of the rotating gear set. Because it only needs to rotate 90°, it is relatively simpler and cheaper to use a pair of gears to realize this function. There are hand rests on both sides of the dinner plate, so the clamping of the manipulator adopts a structured and openable clip to directly hold both sides of the dinner plate, and because the length of the clip is designed according to the length of the hand rest, So it is enough to ensure a stable and reliable clamping of the dinner plate. When the body of the robot completes the rising and rotating movements, the joint gear pair of the robotic arm can control the extension of the upper arm and the forearm of the robot to an appropriate length through rotation, so as to place the dinner plate on the dining table, so that the food can be taken and placed automatically. The function is realized.
餐盘抬升装置可以自动抬升餐盘且可以通过调节上下两个餐盘放置的位置(可以在上下两层同步带凸起上依次放置餐盘，如果餐盘中的物品高度太高，可以跳过一层同步带凸起，在下一层同步带凸起上放置下一个餐盘)以适应不同体积的物品，放餐空间节省，取餐方便快捷，提高送餐效率。The plate lifting device can automatically lift the plate and can adjust the position of the upper and lower plates (the plates can be placed on the upper and lower synchronous belt protrusions one by one, if the height of the items in the plate is too high, you can skip One layer of synchronous belt is raised, and the next dinner plate is placed on the next layer of synchronous belt protrusion) to adapt to items of different volumes, saving space for placing meals, convenient and quick to take meals, and improving delivery efficiency.
而(机器人避障)智能避障系统有两部分构成，一部分就是摄像头，另一部分是红外探头。机器人头部的摄像头可以进行360°旋转识别，通过观察周围的环境进行障碍识别，如墙面、人等，将信号传给控制系统从而可以使餐车进行避障；而红外探头是用以辅助摄像头避障的，因为摄像头的视野范围还是有一定的局限性，因而在餐车的四周安置有个红外探头用以探测距离，躲避障碍，使餐车能够顺利行进。当餐车在进行避障或机器人在进行识别时，指示灯都会进行闪烁，以作出提醒。The (robot obstacle avoidance) intelligent obstacle avoidance system consists of two parts, one part is a camera, and the other part is an infrared probe. The camera on the head of the robot can perform 360°rotation recognition, and recognize obstacles by observing the surrounding environment, such as walls, people, etc., and send signals to the control system so that the dining car can avoid obstacles; and the infrared probe is used to assist the camera For obstacle avoidance, because the field of view of the camera is still limited, an infrared probe is placed around the dining car to detect the distance and avoid obstacles so that the dining car can move smoothly. When the dining car is avoiding obstacles or the robot is identifying, the indicator light will flash as a reminder.
车轮驱动转向组件通过驱动电机输出转速与转矩，并通过减速齿轮传递给左侧车轮三角架，带动左侧车轮转向，车轮轴与驱动轴通过万向联轴器连接，以满足车轮轴在转动的同时完成转向工作；同时左侧车轮三角架连接有平行杆将转速与转矩传递给右侧车轮三角架，从而带动右侧车轮转动。The wheel drive steering assembly outputs the speed and torque through the drive motor, and transmits it to the left wheel tripod through the reduction gear to drive the left wheel to turn. The wheel shaft and the drive shaft are connected by a universal coupling to meet the rotation speed At the same time, the steering work is completed; at the same time, the left wheel tripod is connected with a parallel bar to transmit the speed and torque to the right wheel tripod, thereby driving the right wheel to rotate.
1、机器人自动取餐盘并将餐盘放置在顾客就餐餐桌上的相应位置。2、本专利设计有智能避障系统，可以保证餐车正确安全的行进路线。3、本专利设计的越障平衡系统保证餐车在不平整的地面同样可以保证车体平衡。1. The robot automatically takes the plate and places it on the corresponding position on the customer's dining table. 2. This patent is designed with an intelligent obstacle avoidance system, which can ensure the correct and safe travel route of the dining car. 3. The obstacle balance system designed by this patent ensures that the dining car can also ensure the balance of the car body on uneven ground.
车轮越障平衡是(平衡)当餐车在平整地面行进时，车体的重量和弹簧的弹力平衡，此时的减震车轮与地面保持垂直；当餐车车轮行进至地面高凸的位置时，车轮受到一个斜向力，此时减震弹簧就会被压缩，车轮架会顺时针旋转一定的角度，从而仍然可以使车身保持水平，同时也达到了减震的效果。而当餐车车轮行进至地面凹陷的位置时，由于车轮下方没有支撑，此时减震弹簧30会伸长，车轮架32会逆时针旋转一定的角度，车轮会与地面接触，继续起到支撑车体和行进的功能，从而也就可以保持车身水平，起到减震效果。Wheel obstacle balance is (balance) when the dining car travels on a flat ground, the weight of the car body and the elastic force of the spring are balanced, and the shock-absorbing wheels at this time are kept perpendicular to the ground; When subjected to an oblique force, the shock absorbing spring will be compressed at this time, and the wheel frame will rotate clockwise at a certain angle, so that the vehicle body can still be kept level, and the effect of shock absorption is also achieved. And when the dining car wheel advances to the position of ground depression, because there is no support under the wheel, now the damping spring 30 can be stretched, and the wheel frame 32 can rotate a certain angle counterclockwise, and the wheel can contact the ground to continue to support the car. The function of body and travel, so that the body can be kept level, and the shock absorption effect can be achieved.
本专利除了用于室内的餐厅送餐车，还可以用于室外的外卖送餐机器人。当餐车用作外卖机器人，在户外行驶时，通过机器人头部摄像头来进行定位识别，机器人头部通过活动关节可以进行360°旋转，视野范围大，同时利用车身两侧和前面的红外探头进行测距探障避障，从而与摄像头配合，按照正确路线行驶。另外，当摄像头探测到红绿灯或是行人等障碍物时，指示灯便进行闪烁以做出提醒，从而做到智能行驶。同时，车轮可以进行越障，在遇到路面凹凸不平时，减震车轮可以进行越障，减震弹簧可以进行缓冲，使车体保持平衡，从而更加平稳、智能地到达指定目的地进行送餐。In addition to being used for indoor restaurant food delivery vehicles, this patent can also be used for outdoor takeaway food delivery robots. When the dining car is used as a takeaway robot, when driving outdoors, the robot head camera is used for positioning recognition. The robot head can rotate 360° through movable joints, and the field of view is wide. Obstacle detection and avoidance from the distance, so as to cooperate with the camera to drive along the correct route. In addition, when the camera detects obstacles such as traffic lights or pedestrians, the indicator light will flash as a reminder, so as to achieve intelligent driving. At the same time, the wheels can overcome obstacles. When the road surface is uneven, the shock-absorbing wheels can overcome obstacles, and the shock-absorbing springs can buffer to keep the car body balanced, so that it can reach the designated destination more smoothly and intelligently for food delivery. .
本专利可以实现智能化控制，无需人力，节省人力成本：This patent can realize intelligent control without manpower, saving manpower cost:
1、本专利内部放餐盘的机构可以自动抬升，从而使每次要取走的餐盘都保证在第一层，方便取餐，提高效率；1. The mechanism for placing the plate inside the patent can be automatically lifted, so that the plate to be taken away is guaranteed to be on the first floor each time, which is convenient for taking meals and improving efficiency;
2、本专利中的餐盘是放在同步带凸起上的，因而当餐盘中所放物品体积、形状大小不同时，餐盘可以在上下同步带凸起间调整位置以适应不同体积，从而充分利用放餐空间，既做到节省空间，同时也提高单次送餐量，提高效率；2. The dinner plate in this patent is placed on the protrusion of the timing belt, so when the volume, shape and size of the items placed in the dinner plate are different, the position of the dinner plate can be adjusted between the upper and lower synchronous belt protrusions to adapt to different volumes. In order to make full use of the dining space, it not only saves space, but also increases the amount of single delivery and improves efficiency;
3、本专利设计有智能避障系统，运餐车可以实现智能避障，获得正确安全的行进路线，无需按照固定的轨迹路线行驶，增加了运餐车的使用普遍性和灵活性；3. This patent is designed with an intelligent obstacle avoidance system. The food truck can realize intelligent obstacle avoidance and obtain a correct and safe travel route without following a fixed track route, which increases the universality and flexibility of the food truck;
4、本专利设计有越障车轮，使餐车在行进至凹凸不平的地面时，可以始终保持车身的水平，可以保证餐盘中物品的稳定，不会晃动；4. This patent is designed with obstacle-crossing wheels, so that when the dining car travels to uneven ground, it can always maintain the level of the body, which can ensure the stability of the items in the dining plate and will not shake;
5、本专利可以实现自动送餐的同时自动为客人取餐，自动为客人将食物取出并放置在顾客的就餐位置，为顾客带来智能化、人性化、便捷化的服务5. This patent can realize automatic food delivery and take food for guests at the same time, automatically take out food for guests and place it in the customer's dining position, and bring intelligent, humanized and convenient services to customers
与现有技术相比，本发明具有的优点和积极效果是：Compared with prior art, the advantages and positive effects that the present invention has are:
本发明的餐厅运餐车，在现有的送餐车的外形基础上进行了模块化设计，包括机器人模块、餐盘抬升模块、车轮平衡模块，以此来提高送餐效率，节省人力，为顾客提供更为人性化、智能化、便捷化的服务，且餐车体积外观适宜，适合现有的餐厅的环境，不会对餐厅和顾客造成不利影响。The restaurant truck of the present invention has a modular design based on the shape of the existing dining truck, including a robot module, a plate lifting module, and a wheel balancing module, so as to improve the efficiency of food delivery, save manpower, and serve customers Provide more humanized, intelligent, and convenient services, and the size and appearance of the dining car are appropriate, suitable for the existing restaurant environment, and will not cause adverse effects on restaurants and customers.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.
图1为本发明的整体结构示意图；Fig. 1 is the overall structure schematic diagram of the present invention;
图2为本发明的餐盘抬升组件的结构示意图；Fig. 2 is a structural schematic diagram of the dish lifting assembly of the present invention;
图3为本发明的车轮驱动转向组件的结构示意图；Fig. 3 is a schematic structural view of the wheel drive steering assembly of the present invention;
图4为本发明的万向联轴器的结构示意图；Fig. 4 is the structural representation of universal coupling of the present invention;
图5为本发明的车轮减震组件的结构示意图。Fig. 5 is a structural schematic diagram of the wheel damping assembly of the present invention.
具体实施方式detailed description
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative work, any modifications, equivalent replacements, improvements, etc., shall be included in the protection scope of the present invention Inside.
如图1-5所示，本发明的餐厅运餐车，包括行走车架和设置于车架上的餐盘抬升组件，所述行走车架包括一个内有中空结构的车体外壳3，所述餐盘抬升组件包括设置于车体外壳3中空结构左右两侧的同步带传动结构、该同步带传动结构由固定于车架底部的同步带动力系统传动连接，该两个同步带传动结构的同步带外侧设置有同步凸起15；该同步凸起15上架设有餐盘12。As shown in Figures 1-5, the restaurant truck of the present invention includes a walking frame and a plate lifting assembly arranged on the frame, and the walking frame includes a car body shell 3 with a hollow structure inside. The plate lifting assembly includes a synchronous belt transmission structure arranged on the left and right sides of the hollow structure of the car body shell 3. The synchronous belt transmission structure is connected by a synchronous belt power system fixed at the bottom of the vehicle frame. The synchronization of the two synchronous belt transmission structures A synchronous protrusion 15 is arranged on the outer side of the belt; a dinner plate 12 is erected on the synchronous protrusion 15 .
作为对上述技术方案的改进，所述同步凸起15设置有凹槽。As an improvement to the above technical solution, the synchronous protrusion 15 is provided with a groove.
作为对上述技术方案的改进，同步带传动结构包括设置于车体外壳3前后侧壁上的同步带支架11，两个对称设置的同步带支架11间设置有同步轴10，该同步轴10沿前后方向设置，上下分布，其上设有同步带轮，同步带18绕设在同步带轮上。As an improvement to the above-mentioned technical solution, the synchronous belt transmission structure includes a synchronous belt bracket 11 arranged on the front and rear side walls of the vehicle body shell 3, and a synchronous shaft 10 is arranged between two symmetrically arranged synchronous belt brackets 11, and the synchronous shaft 10 is arranged along the The front and back directions are arranged, distributed up and down, and a synchronous pulley is arranged on it, and the synchronous belt 18 is wound on the synchronous pulley.
作为对上述技术方案的改进，所述同步带动力系统包括固定于车架上的驱动电机20、通过齿轮轴支撑架25设置于车架上的齿轮轴26，该齿轮轴26有两个，分布于同步带传动结构两侧，所述驱动电机20与齿轮轴26之间通过过渡轴24传动连接，齿轮轴26与同步带轮通过同步带轮锥齿轮22传动连接，齿轮轴26与过渡轴24之间通过锥齿轮组23传动连接，过渡轴14与驱动电机20之间通过减速的直齿轮组21传动连接。As an improvement to the above technical solution, the synchronous belt power system includes a drive motor 20 fixed on the vehicle frame, and a gear shaft 26 arranged on the vehicle frame through a gear shaft support frame 25. There are two gear shafts 26 distributed On both sides of the synchronous belt transmission structure, the drive motor 20 is connected to the gear shaft 26 through the transition shaft 24, the gear shaft 26 is connected to the synchronous pulley through the synchronous bevel gear 22, and the gear shaft 26 is connected to the transition shaft 24 The transmission connection between them is through the bevel gear set 23, and the transmission connection between the transition shaft 14 and the drive motor 20 is through the deceleration spur gear set 21.
作为对上述技术方案的改进，所述车体外壳3在左右两侧设置有车体侧门4。As an improvement to the above technical solution, the vehicle body shell 3 is provided with vehicle body side doors 4 on the left and right sides.
作为对上述技术方案的改进，所述车体外壳3的周部设置有若干个红外探头2，该红外探头2为六个，所述车体外壳3的前侧设置有指示灯9。As an improvement to the above technical solution, several infrared probes 2 are arranged on the periphery of the vehicle body shell 3 , and the number of the infrared probes 2 is six, and an indicator light 9 is set on the front side of the vehicle body shell 3 .
作为对上述技术方案的改进，本发明的餐厅运餐车还包括设置于车体外壳后侧的机器人组件，所述机器人组件包括机器人脚部、机器人腿部丝杠、机器人下身、机器人上身6、机器人上臂45、机器人小臂46、机器人手部，所述机器人脚部固定在车体外壳3中空结构的底板上，所述机器人下身通过机器人腿部丝杠活动设置在机器人脚部上，所述机器人上身6通过旋转齿轮组与机器人下身活动连接，所述机器人手部与机器人小臂、机器人小臂与机器人上臂、机器人上臂与机器人上身之间通过关节齿轮对活动连接。As an improvement to the above-mentioned technical solution, the restaurant truck of the present invention also includes a robot assembly arranged on the rear side of the car body shell, and the robot assembly includes a robot foot, a robot leg screw, a robot lower body, a robot upper body 6, a robot Upper arm 45, robot forearm 46, robot hand, described robot foot is fixed on the base plate of car body shell 3 hollow structures, and described robot lower body is arranged on the robot foot through the activity of robot leg lead screw, and described robot The upper body 6 is movably connected with the lower body of the robot through a rotating gear set, and the robot hand is movably connected with the forearm of the robot, the forearm of the robot and the upper arm of the robot, the upper arm of the robot and the upper body of the robot through joint gears.
作为对上述技术方案的改进，所述机器人手部具有一个机器人手部上夹板和一个机器人手部下夹板。As an improvement to the above technical solution, the robot hand has an upper splint for the robot hand and a lower splint for the robot hand.
作为对上述技术方案的改进，所述机器人还包括一个机器人头部7，该机器人头部7设置有摄像头44。As an improvement to the above technical solution, the robot further includes a robot head 7 , and the robot head 7 is provided with a camera 44 .
作为对上述技术方案的改进，本发明的餐厅运餐车还包括一个车轮平衡组件；所述车轮平衡组件包括车轮减震组件、车轮驱动转向组件；As an improvement to the above technical solution, the restaurant truck of the present invention also includes a wheel balance assembly; the wheel balance assembly includes a wheel shock absorber assembly and a wheel drive steering assembly;
所述车轮减震组件包括减震车轮1、29、减震器31、减震弹簧30、车轮架32；减震器31与减震弹簧30衔接，减震车轮1、29通过轴与减震器31连接，减震器31与车轮架32固定连接，该车轮架32通过圆柱销33连接在车体外壳3的底板下；Described wheel damping assembly comprises damping wheel 1,29, shock absorber 31, damping spring 30, wheel frame 32; Shock absorber 31 is connected with damping spring 30, and damping wheel 1,29 passes shaft and damping Connected to the shock absorber 31, the shock absorber 31 is fixedly connected to the wheel frame 32, and the wheel frame 32 is connected under the bottom plate of the vehicle body shell 3 through a cylindrical pin 33;
所述车轮驱动转向组件包括转向轮平行杆34、转向节36、转向车轮37、万向联轴器38、驱动齿轮组39；所述转向轮平行杆34通达销钉将两个转向节36铰接成一体，转向车轮37通过车轮轴连接在转向节36上，两个转向节36间设置有驱动轴，该驱动轴由驱动齿轮组39传动连接，该驱动轴与车轮轴之间通过万向联轴器38传动连接。The wheel drive steering assembly includes a steering wheel parallel bar 34, a steering knuckle 36, a steering wheel 37, a universal coupling 38, and a drive gear set 39; the steering wheel parallel bar 34 is connected to a pin to hinge two steering knuckles 36 In one piece, the steering wheel 37 is connected to the steering knuckle 36 through the wheel shaft, and a drive shaft is arranged between the two steering knuckles 36. The drive shaft is connected by a drive gear set 39, and the drive shaft and the wheel shaft are connected by a universal joint. Device 38 transmission connection.
本发明的工作原理是：The working principle of the present invention is:
驱动电机输出转速和转矩，通过减速的直齿轮组进行减速，以达到同步带所需要的运动速度，然后通过锥齿轮组实现转速方向的改变，两个同步带轮的转动方向相反，其中一个同步带轮逆时针旋转，另一个同步带轮顺时针旋转，从而将餐盘向上抬升。而餐盘放置在两侧同步带的四个同步带凸起上，由于凸起上设计有凹槽，所以将餐盘放置在凸起上时，可以保持餐盘的稳定，从而保证餐盘中的食物不会晃动。如此就可以实现餐盘抬升的功能。The output speed and torque of the driving motor are decelerated through the decelerated spur gear set to achieve the required movement speed of the synchronous belt, and then the direction of the rotational speed is changed through the bevel gear set. The rotation directions of the two synchronous pulleys are opposite, and one of them is The timing pulley rotates counterclockwise, and the other timing pulley rotates clockwise, thus lifting the dinner plate up. The dinner plate is placed on the four synchronous belt protrusions of the synchronous belts on both sides. Since the protrusions are designed with grooves, when the dinner plate is placed on the protrusions, the stability of the dinner plate can be kept, thereby ensuring The food will not shake. In this way, the function of lifting the dinner plate can be realized.
接着(取餐)机器人的上升运动通过机器人腿部丝杠的旋转上升来实现，用丝杠可以实现距离较为精准的控制，而且比较平稳。机器人上身的旋转是通过旋转齿轮组配合实现的，因为只需要旋转90°，所以采用一对齿轮去实现该功能相对来说更为简单成本也比较低。餐盘的两侧都有手托的位置，所以机械手的夹持采用一个有构成的可开合的夹子，直接加持餐盘两侧，而且由于夹子的长度尺寸是按照手托的长度设计的，所以足够保证平稳牢靠的夹持餐盘。当机器人的身体完成上升和旋转的动作后，机械臂的关节齿轮对通过转动可控制机器人上臂和机器人小臂伸长合适的长度，从而将餐盘放置在餐桌上，这样自动取餐放餐的功能就实现了。Then (feed taking) the rising motion of the robot is realized by the rotation and rising of the screw on the leg of the robot, and the distance can be controlled more precisely with the screw, and it is relatively stable. The rotation of the upper body of the robot is achieved through the cooperation of the rotating gear set. Because it only needs to rotate 90°, it is relatively simpler and cheaper to use a pair of gears to realize this function. There are hand rests on both sides of the dinner plate, so the clamping of the manipulator adopts a structured and openable clip to directly hold both sides of the dinner plate, and because the length of the clip is designed according to the length of the hand rest, So it is enough to ensure a stable and reliable clamping of the dinner plate. When the body of the robot completes the rising and rotating movements, the joint gear pair of the robotic arm can control the extension of the upper arm and the forearm of the robot to an appropriate length through rotation, so as to place the dinner plate on the dining table, so that the food can be taken and placed automatically. The function is realized.
餐盘抬升装置可以自动抬升餐盘且可以通过调节上下两个餐盘放置的位置(可以在上下两层同步带凸起上依次放置餐盘，如果餐盘中的物品高度太高，可以跳过一层同步带凸起，在下一层同步带凸起上放置下一个餐盘)以适应不同体积的物品，放餐空间节省，取餐方便快捷，提高送餐效率。The plate lifting device can automatically lift the plate and can adjust the position of the upper and lower plates (the plates can be placed on the upper and lower synchronous belt protrusions one by one, if the height of the items in the plate is too high, you can skip One layer of synchronous belt is raised, and the next dinner plate is placed on the next layer of synchronous belt protrusion) to adapt to items of different volumes, saving space for placing meals, convenient and quick to take meals, and improving delivery efficiency.
而(机器人避障)智能避障系统有两部分构成，一部分就是摄像头，另一部分是红外探头。机器人头部的摄像头可以进行360°旋转识别，通过观察周围的环境进行障碍识别，如墙面、人等，将信号传给控制系统从而可以使餐车进行避障；而红外探头是用以辅助摄像头避障的，因为摄像头的视野范围还是有一定的局限性，因而在餐车的四周安置有个红外探头用以探测距离，躲避障碍，使餐车能够顺利行进。当餐车在进行避障或机器人在进行识别时，指示灯都会进行闪烁，以作出提醒。The (robot obstacle avoidance) intelligent obstacle avoidance system consists of two parts, one part is a camera, and the other part is an infrared probe. The camera on the head of the robot can perform 360°rotation recognition, and recognize obstacles by observing the surrounding environment, such as walls, people, etc., and send signals to the control system so that the dining car can avoid obstacles; and the infrared probe is used to assist the camera For obstacle avoidance, because the field of view of the camera is still limited, an infrared probe is placed around the dining car to detect the distance and avoid obstacles so that the dining car can move smoothly. When the dining car is avoiding obstacles or the robot is identifying, the indicator light will flash as a reminder.
车轮驱动转向组件通过驱动电机输出转速与转矩，并通过减速齿轮传递给左侧车轮三角架，带动左侧车轮转向，车轮轴与驱动轴通过万向联轴器连接，以满足车轮轴在转动的同时完成转向工作；同时左侧车轮三角架连接有平行杆将转速与转矩传递给右侧车轮三角架，从而带动右侧车轮转动。The wheel drive steering assembly outputs the speed and torque through the drive motor, and transmits it to the left wheel tripod through the reduction gear to drive the left wheel to turn. The wheel shaft and the drive shaft are connected by a universal coupling to meet the rotation speed At the same time, the steering work is completed; at the same time, the left wheel tripod is connected with a parallel bar to transmit the speed and torque to the right wheel tripod, thereby driving the right wheel to rotate.
1、机器人自动取餐盘并将餐盘放置在顾客就餐餐桌上的相应位置。2、本专利设计有智能避障系统，可以保证餐车正确安全的行进路线。3、本专利设计的越障平衡系统保证餐车在不平整的地面同样可以保证车体平衡。1. The robot automatically takes the plate and places it on the corresponding position on the customer's dining table. 2. This patent is designed with an intelligent obstacle avoidance system, which can ensure the correct and safe travel route of the dining car. 3. The obstacle balance system designed by this patent ensures that the dining car can also ensure the balance of the car body on uneven ground.
车轮越障平衡是(平衡)当餐车在平整地面行进时，车体的重量和弹簧的弹力平衡，此时的减震车轮与地面保持垂直；当餐车车轮行进至地面高凸的位置时，车轮受到一个斜向力，此时减震弹簧就会被压缩，车轮架会顺时针旋转一定的角度，从而仍然可以使车身保持水平，同时也达到了减震的效果。而当餐车车轮行进至地面凹陷的位置时，由于车轮下方没有支撑，此时减震弹簧30会伸长，车轮架32会逆时针旋转一定的角度，车轮会与地面接触，继续起到支撑车体和行进的功能，从而也就可以保持车身水平，起到减震效果。Wheel obstacle balance is (balance) when the dining car travels on a flat ground, the weight of the car body and the elastic force of the spring are balanced, and the shock-absorbing wheels at this time are kept perpendicular to the ground; When subjected to an oblique force, the shock absorbing spring will be compressed at this time, and the wheel frame will rotate clockwise at a certain angle, so that the vehicle body can still be kept level, and the effect of shock absorption is also achieved. And when the dining car wheel advances to the position of ground depression, because there is no support under the wheel, now the damping spring 30 can be stretched, and the wheel frame 32 can rotate a certain angle counterclockwise, and the wheel can contact the ground to continue to support the car. The function of body and travel, so that the body can be kept level, and the shock absorption effect can be achieved.
本专利除了用于室内的餐厅送餐车，还可以用于室外的外卖送餐机器人。当餐车用作外卖机器人，在户外行驶时，通过机器人头部摄像头来进行定位识别，机器人头部通过活动关节可以进行360°旋转，视野范围大，同时利用车身两侧和前面的红外探头进行测距探障避障，从而与摄像头配合，按照正确路线行驶。另外，当摄像头探测到红绿灯或是行人等障碍物时，指示灯便进行闪烁以做出提醒，从而做到智能行驶。同时，车轮可以进行越障，在遇到路面凹凸不平时，减震车轮可以进行越障，减震弹簧可以进行缓冲，使车体保持平衡，从而更加平稳、智能地到达指定目的地进行送餐。In addition to being used for indoor restaurant food delivery vehicles, this patent can also be used for outdoor takeaway food delivery robots. When the dining car is used as a takeaway robot, when driving outdoors, the robot head camera is used for positioning recognition. The robot head can rotate 360° through movable joints, and the field of view is wide. Obstacle detection and avoidance from the distance, so as to cooperate with the camera to drive along the correct route. In addition, when the camera detects obstacles such as traffic lights or pedestrians, the indicator light will flash as a reminder, so as to achieve intelligent driving. At the same time, the wheels can overcome obstacles. When the road surface is uneven, the shock-absorbing wheels can overcome obstacles, and the shock-absorbing springs can buffer to keep the car body balanced, so that it can reach the designated destination more smoothly and intelligently for food delivery. .
本专利可以实现智能化控制，无需人力，节省人力成本:This patent can realize intelligent control without manpower, saving manpower cost:
1、本专利内部放餐盘的机构可以自动抬升，从而使每次要取走的餐盘都保证在第一层，方便取餐，提高效率；1. The mechanism for placing the plate inside the patent can be automatically lifted, so that the plate to be taken away is guaranteed to be on the first floor each time, which is convenient for taking meals and improving efficiency;
2、本专利中的餐盘是放在同步带凸起上的，因而当餐盘中所放物品体积、形状大小不同时，餐盘可以在上下同步带凸起间调整位置以适应不同体积，从而充分利用放餐空间，既做到节省空间，同时也提高单次送餐量，提高效率；2. The dinner plate in this patent is placed on the protrusion of the timing belt, so when the volume, shape and size of the items placed in the dinner plate are different, the position of the dinner plate can be adjusted between the upper and lower synchronous belt protrusions to adapt to different volumes. In order to make full use of the dining space, it not only saves space, but also increases the amount of single delivery and improves efficiency;
3、本专利设计有智能避障系统，运餐车可以实现智能避障，获得正确安全的行进路线，无需按照固定的轨迹路线行驶，增加了运餐车的使用普遍性和灵活性；3. This patent is designed with an intelligent obstacle avoidance system. The food truck can realize intelligent obstacle avoidance and obtain a correct and safe travel route without following a fixed track route, which increases the universality and flexibility of the food truck;
4、本专利设计有越障车轮，使餐车在行进至凹凸不平的地面时，可以始终保持车身的水平，可以保证餐盘中物品的稳定，不会晃动；4. This patent is designed with obstacle-crossing wheels, so that when the dining car travels to uneven ground, it can always maintain the level of the body, which can ensure the stability of the items in the dining plate and will not shake;
5、本专利可以实现自动送餐的同时自动为客人取餐，自动为客人将食物取出并放置在顾客的就餐位置，为顾客带来智能化、人性化、便捷化的服务5. This patent can realize automatic food delivery and take food for guests at the same time, automatically take out food for guests and place it in the customer's dining position, and bring intelligent, humanized and convenient services to customers
与现有技术相比，本发明具有的优点和积极效果是：Compared with prior art, the advantages and positive effects that the present invention has are:
本发明的餐厅运餐车，在现有的送餐车的外形基础上进行了模块化设计，包括机器人模块、餐盘抬升模块、车轮平衡模块，以此来提高送餐效率，节省人力，为顾客提供更为人性化、智能化、便捷化的服务，且餐车体积外观适宜，适合现有的餐厅的环境，不会对餐厅和顾客造成不利影响。The restaurant truck of the present invention has a modular design based on the shape of the existing dining truck, including a robot module, a plate lifting module, and a wheel balancing module, so as to improve the efficiency of food delivery, save manpower, and serve customers Provide more humanized, intelligent, and convenient services, and the size and appearance of the dining car are appropriate, suitable for the existing restaurant environment, and will not cause adverse effects on restaurants and customers.
以上显示和描述了本发明的基本原理、主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等同物界定。The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and that described in the above-mentioned embodiments and the description only illustrates the principles of the present invention, and the present invention also has various aspects without departing from the spirit and scope of the present invention. Variations and improvements all fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.
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| CN113701000A (en) * | 2021-08-28 | 2021-11-26 | 徐州国晟智能科技有限公司 | Thermal infrared imager for silo safety detection system |
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